Remote operated lift control device

ABSTRACT

A hydrodynamic diverter is disclosed as including a lift surface and a shiftable tow mechanism attached thereto that enables said lift surface to be towed from at least two different latched attitude controlled positions which, in turn, respectively vary the angle of attack thereof, as it is being towed through water or other appropriate aqueous or fluid medium. Shifting of the tow mechanism from one position to the other- in either direction- is accomplished by successively reducing and increasing the towing force applied thereto in a predetermined manner, and such force changes may be effected directly by any convenient means or remotely by a tow cable, control link, servo, or other suitable means.

United States Patent [72] Inventors Raymond E. Kelly;

Edward W. Johnson, both of Panama City, Fla.

[21] Appl. No. 21,240

[22] Filed Mar. 20, 1970 [45] Patented [73] Assignee Oct. 19, 1971 W V MTV H The United States of America as represented by the Secretary of the Navy [54] REMOTE OPERATED LIFT CONTROL DEVICE 16 Claims, 8 Drawing Figs.

[52] US. Cl 114/235,

114/221, 244/3 [51] Int. Cl B63b 21/56 [50] Field of Search 114/221 R,

235 R, 235 A, 235 B, 236, 221 A; 244/3, 154, 153 R; 43/43.13,9 US

[ 1 V I V V '7 References Cited UNITED STATES PATENTS 4/1957 Creelman 3,062,171 11/1962 Somerville 114/235 Primary Examiner-Milton Buchler Assistant ExaminerGregory W. OConnor Att0rneys-Richard S. Sciascia, Don D. Doty and William T.

Skeer ABSTRACT: A hydrodynamic diverter is disclosed as including a lift surface and a shiftable tow mechanism attached thereto that enables said lift surface to be towed from at least two different latched attitude controlled positions which, in a turn, respectively vary the angle of attack thereof, as it is being towed through water or other appropriate aqueous or fluid medium. Shifting of the tow mechanism from one position to the other-in either directionis accomplished by successively reducing and increasing the towing force applied thereto in a predetermined manner, and such force changes may be effected directly by any convenient means or remotely by a tow cable, control link, servo, or other suitable means.

SHEEIlUF 5 PATENTEDDm 19 |97| RAYMOND E. KELLY EDWARD W. JOHNSON INVENTORS PATENTEDBU 19 I97! SHEET 2 [IF 5 RAYMOND E KELLY EDWARD W. JOHNSON INVENTORS rue;

PATENTEDom 19 |97| SHEET k 0F 5 FIG7 ' RAYMOND E. KELLY EDWARD W. JOHNSON INVENTOR.

l1 orneg PATENTEDum 19 ISTI saw 5 GF 5 3,613,626

RAYMOND E KELLY EDWARD W. JOHNSON INVENTORS REMOTE OPERATED LIFT CONTROL DEVICE STATEMENT OF GOVERNMENT INTEREST The invention described herein may be manufactured and used by or for the Government of the United States of America for governmental purposes without the payment of any royalties thereon or therefor.

FIELD OF THE INVENTION The present invention relates generally to underwater towing systems and, in particular, is a remotely operated mechanism for controlling the attitude and lift of a hydrodynamic wing. In even greater particularity, it is a tension-actuated two-position sequencing mechanism for changing the position or attitude of an underwater or hydrodynamic diverter, as it is being towed by a cable as part of a marine mine hunting and/or sweeping system.

DESCRIPTION OF THE PRIOR ART The mine-sweeping systems of the prior art ordinarily stream one or more cables behind a minesweeping ship, aircraft, or other tractor vehicle within the area of the water to be swept. Attached to said cables are numerous items, including otters, weights, diverters, hydrodynamic wings, and the like, which respectively positioned them to be spread out, so as to cover or sweep as wide a path as possible. Of course, for sweeping purposes, cutters or other suitable apparatus are also mounted on said cables, and when properly positioned by the aforesaid otters, weights, diverters, wings, etc., it is such apparatus that actually performs most of the cable or marine mine mooring line cutting and other sweeping operations. Heretofore, moreover, during the sweeping of marine mines with as broad a sweep path as possible within the confines of, say, the banks or channel of a river, it became necessary to stop sweeping and haul in equipment whenever a narrow portion thereof was encountered or whenever another ship, boat, or other marine vehicle wanted to pass in either direction. Such procedures were necessary, of course, because there was no way to control the tow point of the various diverters incorporated in the sweeping system and, thus, there was no expeditious way to vary the sweep path of the streamed mine sweeping or other gear being towed behind a suitable tractor vehicle. In other words, because the diverters, etc., employed to properly position mine-sweeping cables and gear were not guidable themselves from a location remote therefromsay, from the minesweeping ship or other towing tractor vehicleit was not possible to guide the sweeping system, except by turning the towing vehicle.

SUMMARY OF THE INVENTION The subject invention overcomes many of the disadvantages of the prior art, in that it enables minesweeping or other gear mounted on towed cables to be disposed, within limits, at places relative to the tow vehicle and also guided separately from and relative to it. Accordingly, the operational flexiblity and effectiveness, as well as the timesaving and personnel safety, effected thereby constitutes a vast improvement and a considerable advancement over any and all comparable devices or systems of the prior art.

Very simply, the invention incorporates an adjustable mechanism which, by means of tow cable tension manipulation, causes the effective point to which the towing force is applied to a towed diverter wing relative to the lift forces which are-effected by movement of the diverter wing through the water (or other environmental medium) to be shifted in such manner as to change the attitude or angle of attack of said wing, and thereby cause it to assume some other predetermined position proportional to the resultant thereof. Accordingly, the wing flies" to a new location toward or away from-as the case may be-the course the tractor towing vehiclc is traveling and, for any given tow speed, is maintained there, due to all of the external forces being applied thereto being in equilibrium at that point. Of course, the cables, instrumentation, cutters, and minesweeping and other equipment attached to the tow cables or being streamed behind the diverter are effectively towed from said new location. Hence, it may readily be seen that the invention facilitates the guidance of towed cables within water or other ambient mediums, the controlling of which would otherwise be very difficult, to say the least.

It is, therefore, an object of this invention to provide an improved underwater diverter.

Another object of this invention is to provide an improved, more efficient minesweeping system.

Another object of this invention is to provide an adjustable mechanism for changing the angle of attack of a towed hydrodynamic diverter from a remote position.

Still another object of this invention is to provide an improved method and means for changing the direction of travel of towed diverters, depressors, otters, and hydrodynamic wings.

Still another object of this invention is to provide a tensionactuated two-position sequencing mechanism for positioning a diverter or other external force-directed device adapted for being towed underwater or within any other suitable environmental or ambient medium.

A further object of this invention is to provide an improved method and means for rapidly decreasing and increasing the sweep path width of towed cables, mechanical minesweeping gear, or other apparatus, in order to facilitate the navigating thereof in waters restricted by traffic or other impediments.

Another object of this invention is to provide an improved method and means for rapidly decreasing and increasing the sweep path width of a towed minesweeping system or other apparatus, in order to expedite the maneuvering thereof during varying course or mine field situations or during various tactical operations.

Still another object of this invention is to provide a minesweeping system that may be remotely controlled and guided in such manner as to make it form various and sundry useful geometrical configurations during the towing thereof.

A further object of this invention is to provide an improved method and means for adjustably positioning a cable or electrical conductor that is being towed through water or other fluids by a marine or air tractor vehicle.

Another object of this invention is to provide a method and means for facilitating the maneuvering of cable towed equipment, including minesweeping apparatus.

Another object of this invention is to provide a method and means for remotely changing the attitude of towed hydrodynamic or other wings, as they are flying in their respective environmental mediums.

A further object of this invention is to provide a method and means for reducing the wear and tear on minesweeping and other cable-streamed gear, as well as on associated equipment, as a result of reducing the number of retrieval and streamings thereof during any given operational conditions.

Still another object of this invention is to provide an improved method and means for changing the relative directions of a plurality of force vectors applied to a device, so as to ef feet a resultant force vector with respect thereto which changes the attitude thereof relative to said plurality of force vectors in such manner as to effect a predetermined equilibrium therebetween.

Other objects and many of the attendant advantages will be readily appreciated as the subject invention becomes better understood by reference to the following detailed description, when considered in conjunction with the accompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. I is a quasi-pictorial view of an adjustable attitude hydrodynamic diverter;

FIG. 2 is a cross-sectional view of the attitude changing mechanism and wing section of the hydrodynamic diverter of FIG. I when it is in its normaltowing position;

FIG. 3 is a vertical sectional view on line 33 of FIG. 2 of the attitude changing mechanism of the device, with parts shown in cross section;

FIG. 4 is a horizontal cross section taken along line 4-4 of FIG. 2 of the attitude changing mechanism of the device;

FIGS. 5 through 7 are schematic representations of the relative positions of the various components occurring within the attitude changing mechanism of the device of FIG. 2, as it is sequentially shifted from a first operating position to a second operating position and then back to its first operating position; and

FIG. 8 is a schematic plan view of a unique marine minesweeping system incorporating a plurality of adjustable hydrodynamic diverters of the type depicted in FIG. 1.

DESCRIPTION OF THE PREFERRED EMBODIMENT In order to simplify the disclosure of the invention presented herewith, the embodiment described below will be that which is intended to be used in water or sea water; however, it should be understood that it is not intended that the invention be limited thereto, and that it may be designed to be operative and useful in any suitable environmental medium without violating the spirit or scope thereof. Obviously, it would be well within the purview of one skilled in the art having the benefit of the teachings presented herein to make whatever design choices are necessary to construct the invention for use in any appropriate predetermined fluid or environmental medium. I

To the extent possible, without sacrificing clarity, like elemerits of all of the drawing figures are referencedby like numerals. On the other hand, where distinctions occur which are of structural or operational significance, other reference numerals are employed to make this disclosure as clear and definite as possible, so that one of ordinary skill in the art will be able to make and use the invention described immediately below.

Referring now to FIG. 1, there is shown a hydrodynamic diverter 11 as having a lift section or wing 12 (having lift characteristics) which preferably'has a streamlined weight 13 mounted on one end thereof. Said wing 12 may be configured to have oppositely disposed hydrodynamic or aerodynamic lift surfaces along the chord thereof and, likewise, may be configured to have whatever span will provide the optimum Iiftsize characteristics for any given operational circumstances. It may also, if desired, have a contoured bent, or rotatable section integrally or otherwise attached to the trailing edge thereof for control and stabilization purposes. A finlike tail or empennage section 15 is likewise connected to wing 12 for stabilization purposes and an elevator 16 may be attached thereto for similar reasons.

Mounted on the surface of wing 12 opposite that of the lift direction, as by welding, bolts or other suitable conventional means, is an adjustable tow-point shift mechanism 17, which, in essence, performs somewhat similar functions as an adjustable bridle performs for a kite, or the like, but, of course, it does it by a unique structural arrangement. The structural details thereof will be discussed subsequently in conjunction with FIGS. 2 through 7; but, suffice to say at this time that it includes a lever arm 18 having outer and inner links 19 and 21 interconnected by means of a hinge 22. Inner link 21 is rotatably mounted on a shaft 23 which, in turn, is supported in holes 24 in bearing flanges 25 attached to each side of a frame 26 that is integrally or otherwise connected to a base plate 27. It is base plate 27, of course, that is actually attached to the surface of wing 12 by means of a plurality of bolts 28 and, thus, effects the mounting of the aforementioned adjustable tow-point mechanism 17 thereon. Retaining rings 29 (one on each side) keep shaft 23 centered in place between flanges 25.

Outer tow links 19 contains a hole 3Ithe center of which is the tow point during normal operations, as will be discussed subsequently-at the outer end thereof, and by means of a suitable attachment means, such as shackle 32, a tow line or cable 33 is connected thereto. Of course, cable 33 is connected to any suitable draft vehicle at the other end, as previously indicated. 7

Illustrated in phantom are several positions 34 and 35 which arm 18 assumes during the shifting of tow point shift mechanism 17. As will be'discussed in greater detail during the discussion of the operation of the invention below, phantom position 34 is the release position acquired by releasing the tension on tow cable 33. But when tow cable 33 is again tensed for continuing the towing operations along a narrower path, position 35 is assumed and maintained, and tow point 36 becomes the new tow point relative to wing 12 at that time.

Frame 26 preferably has openings 37 on both sides thereof, with the rear end thereof formed as a pair of angular notch bearings 38 in which a pair of journals, such as substantially triangular'shaped knife bearings 39, are pivotably mounted. Integrally connected to said knife bearings 39 and suspended therebetween is an internally threaded stop nut 41, with an externally threaded hollow adjustment screw 42 inserted therein. As will be discussed in greater detail in conjunction with FIG. 2, a spring 43 is effectively connected between adjustment screw 42 and the aforesaid inner link 21 of arm 18, so as to effect the uring thereof in the counterclockwise or forward direction when the towing tension is momentarily removed from tow cable 33 for the purpose of shifting the tow-point position.

FIGS. 2, 3, and 4 more fully depict the unique combination of structural elements making up shift mechanism 17. Hence, it may be seen that they disclose some of the elements discussed in general in conjunction with the device of FIG. I; consequently, similar reference numerals have been respectively used therefor.

FIG. 2 shows the tow-point shift mechanism 17 in the normal, wide-path, operational position; that is, in the position which would cause the minesweeping cables and gear connected between the tractor vehicle and it and streamed therebehind to sweep the. broadest path possible. Subsequently, other path widths will be discussed in conjunction with the mechanical schematic representations of FIGS. 5 through 8, and especially with respect to FIG. 6, which shows the narrowest possible sweep path configuration.

Referring now to FIGS. 2 through 4, as previously mentioned, link 21 of lever arm 18 pivots about shaft 23, with the limits of rotation thereof being the front and rear stop surfaces 44 and 45. Link 21 is so configured that a small lever 47, with flat bifurcations, extends upwardly and rearwardly from shaft 23, and holes 48 and 49 extend transversely through the flat bifurcations thereof. Between the bifurcations of said small lever 47 a yoke 51 is inserted, and within holes 52 and 53 therein (which are respectively aligned with the aforesaid holes 48 and 49) a shaft 54 is inserted for rotation of said yoke 51 thereabout. Integrally or otherwise connected to yoke 51 is a rod 55 which extends in sliding fit through spring 43 along the longitudinal axis thereof and into a hole 56 bored in screw 42 for complementary sliding fit therewith along the longitudinal axis thereof.

Inner link 21 is bifurcated from surface 57 downwardly toward rounded lower end 58, and mounted between the bifurcations 59 and 61 thereof is a cam 62 which is mounted for rotation on a shaft 63 which, in turn, is securely mounted in holes 64 and 65 located in said link bifurcations and in a direction normal thereto.

Cam 62, as may readily be seen in FIGS. 2, 5, 6 and 7, has an unusual structure, in that it has an upper leg and a lower leg that forms a substantially V-shaped configuration. An operative concave curved cam surface 66 is located inside the upper leg thereof, and near the rearward tip thereof, a notch 67 is located. Another notch 68 is located in the lower end of the other leg of cam 62 with such a configuration that it will act as a knife-type bearing for the end of a spring 69 that is coiled around shaft 23 and connected at the other end thereof to a pin 71 that is securely connected to inner link 21 of arm 18. As will be discussed more fully below, pin 71 is located in such position relative to the center of shaft 23 that the back and further movement of cam 62 (as it rotates back and forth about shaft 63) will cause notch bearing 68 to be moved across the dead center line between shafts 23 and 63 and cause spring 69 to urge cam 62 in a togglelike fashion toward whatever side of said dead center line it is located at any given time.

Attached to the top of frame 26 is a pair of flanges 72 and 73 which extended upwardly therefrom. A shaft 74 is secured within holes 75 and 76 therein, and between said flanges 72 and 73, a pawl 77 is mounted for rotation about shaft 74 by 'means of bearing hole 78.

Pawl 77 is likewise unique in shape. It has a forwardly extending cam follower arm 79 with a rounded tip adapted for timely riding on curved surface 66 of cam 62. The tip of arm 79 should also be of such size and configuration that it will fit in a complementary manner in notch 67 during the shift conditions depicted in FIGS. 5 and 6. Pawl 77 also has a shortstop lip 81 which abuts the top of frame 27 when it is located in its most counterclockwise position. Of course, as may readily be seen, arm 79 extends down through an opening 82 in frame 26; however, its clockwise rotation is limited due to the abutment of surface 83 thereof with the under side of frame 26. The rear end of pawl 77 contains a heel 84 that is in constant contact with a flat spring 85 which, in turn, is connected by means of rivets 86 or the like to the inside surface of frame 26 in such manner as to constantly urge pawl 77 to be rotated toward the counterclockwise direction.

The aforementioned spring 43 is, of course, held in place by shaft 55, and the compression thereof is adjusted by adjusting screw 42 within stop nut 41, so as to be moved forwardly or rearwardly along shaft 43 between the rear end of yoke 54 and the front end of screw 42. The compression to which it is adjusted is such as is necessary to keep the shift mechanism in force equilibrium during both operational situations and still allow it to shift properly when the tow cable tension is effectively released at shackle control point 31 of arm 18. If so desired, a washer 87 may be mounted on shaft 52 and inserted between the rear end of spring 43 and the front end of adjustment screw 42 for the purpose of being a more efficient rear stop for spring 43 and, moreover, facilitate the movement of screw 42 during the adjustment thereof.

Hinge 22 may be any conventional type which allows outer link 19 to swing sideways about axis 88 to phantom position 19' and 19", as exemplarily portrayed ,in FIG. 3. In the preferred embodiment disclosed herein, hinge 22 contains a yoke having holes 89 and 91 in flanges 92 and 93 thereof. The lower end of outer link 19 is configured in such manner as to allow it to rotate in a complementary manner between said flanges and also has bearing hole 94 therethrough that is positioned for alignment with holes 89 and 91. A shaft 95 is inserted through said holes and is secured within holes 89 and 91, while bearing hole 94 in link 19 is rotatable therearound.

At this time, it should perhaps be indicated that any wellknown and conventional method and means may be used to secure all of the shafts employed in this invention in their respective operative dispositions. For example, lock rings may be used, press fits may be used, pinched bearing end surfaces may be used, etc. Obviously, it would be well within the purview of one skilled in the art having the benefit of the teachings presented herein to make the design choices necessary with respect to such securing to effect the optimizing thereof for any given operational or manufacturing purposes.

Referring now to FIG. 8, a minesweeping system is schematically illustrated which'incorporates the aforementioned adjustable hydrodynamic diverter 11 to a considerable advantage. A tractor vehicle 101, such as a boat, ship, submarine, aircraft, or the like, is shown as towing a pair of cables 102 and 103, which may have any utilization apparatus such as cable, mooring line, or minesweeping cutters 104 and 105, and, for instance, oceanography or any other instrumentation 106 and 107, mounted thereon. A pair of diverters 11 like that disclosed above are connected to the ends of said tow cables, respectively, and additional cables 108 and 109 are streamed therefrom. Said cables 108 and 109, likewise, may have any suitable utilization apparatus 111 and 112 attached thereto in any quantities necessary to perform any desired function.

The foregoing system pertains tothe configuration thereof during the time the diverter shift mechanism 17 is in the broad sweep path condition, while that portion thereof shown in phantom and having primed reference numerals pertains to an example of the configuration thereof that would occur if the diverter shift mechanism is in the narrow sweep shift position.

In this particular embodiment of the system of FIG. 8, cables 108 and 109 (and associated apparatus which is respectively mounted thereon) are optional, depending on the operational circumstances. They may, for example, perform a suitable mounting means for various and sundry instruments, such as fishing, cutting, oceanographic instruments, or the like; or in the alternative, they may be employed as stabilizers, such as, for instance, the tail or tails of a kite might provide.

MODE OF OPERATION The operation of the subject invention will now be discussed briefly in conjunction with all of the figures of the drawing.

At the outset, it should be understood that shift mechanism 17 has utility that is separate and distinct from that disclosed herewith; however, for the sake of keeping this disclosure as simple as possible, it is disclosed as being assembled in combination with an underwater, kitelike, diverter, which, in turn, is depicted as being advantageously incorporated within a. marine minesweeping system.

FIG. 8, as previously suggested, shows a representative type of marine minesweeping system, with diverters 11 schematically representing the particular type thereof illustrated in FIG. 1. In many instances, diverters 11 will constitute the trailing edge of the system, but in any event, they perform path varying functions, regardless total cable configuration employed.

Assume, for example, that boat 101 and the minesweeping system which it is towing is traveling up a relatively narrow river, in order to sweep or neutralize any marine mines that may have been planted therein by an enemy. For optimum sweeping conditions to prevail, as wide a sweep path as possible should be swept. Diverters 11, of course, maintain such path because they are towed at optimum speed through the water at a maximum angle of attack. But, then, suddenly a bend in the river is encountered or another friendly boat wants to pass in either direction, and the broad sweep path being employed is too wide to allow such maneuvers without contact or accident with the river banks or said friendly boat, as the case may be. In the past, the minesweeping system and its attached gear had to be hauled in while turning the river bend or while letting the friendly boat pass, and then it had to be let out again after such events occurred. So doing was very time consuming, caused excessive wear and tear on the minesweeping equipment, perhaps involved safety hazards to minesweeping personnel, and, to say the least, was most inefficient.

With the instant shift mechanism 17 combined with diverters 11 in such manner that the shifting of mechanism 17 changed the angle of attack thereof to a lesser angle of attack, diverters 11 could be moved to positions 11' with, if desired, little or no change in the speed of boat 101 merely by shifting mechanism 17 to effect said lesser angle of attack change. So doing obviously caused the entire minesweeping system to assume the narrow sweep path configuration, thereby facilitating the navigating of the river bend or the passing of said friendly boat.

To actually effect such shifting, only the tension of cables 102 and 103 need be slacked momentarily; and this may be done by either momentarily slowing boat 101 or by momentarily releasing the brake of the winch on which cables 102 and 103 are wound.

Assuming, for instance, that the navigation circumstances are such that it is necessary or desirable to change from a wide path sweep to a narrow path sweep and back to a wide path sweep. During the wide path sweep, shift mechanism 17 would be in the condition shown in FIG. 2. But once the tow cable tension is slacked slightly at shackle 32, spring 43 urges arm 18 to rotate in a counterclockwise direction around shaft 23, which, in turn, causes cam 62 to be moved forward, thereby causing the cam following tip of arm 79 of pawl 77 to ride along cam surface 66 until it reaches notch 67, as is shown in a slightly exaggerated manner in FIG. 5. At that time, the lower surface of inner link 21 abuts the upper surface of base plate 27 and, thus, rotation thereof is stopped. Then, tow cable 33 is again made taut, and as a result thereof, cam 62 is rotated counterclockwise about shaft 63 by the tip of pawl 77 in notch 67 until the upper surface thereof is stopped by abutment with surface 57 of inner link 21. Rotation of cam 62, of course, causes notch 68 to be toggled across the center line between shaft 23 and pin 71 (or between shafts 23 and 63, depending on how it is observed), and it is kept there during this stage of the shifting by the urging of spring 69. Once this condition is effected, mechanism 17 has been shifted to its narrow sweep path position, as is depicted in a representative manner in FIG. 6. Further stressing of tow cable 33 effects the towing of diverter 11 toward said narrow sweep path because the angle of attack between wing 12 and the direction of travel has been decreased sufficiently to make diverters ll assume positions closer to the course traveled by ship 101. Once equilibrium between all of the external forces applied to diverters 11 have been effected, the narrow sweep path configuration has been accomplished.

To shift back to the wide sweep path condition, cable 33 is again slacked slightly. Arm 18 is urged to again rotate counterclockwise about shaft 23 by spring 43. Then spring 85, being in contact with heel 84, urges pawl 77 to rotate counterclockwise about its shaft 74 which, in turn, removes the tip thereof from notch 67 and positions it so that it will ride back along cam surface 66 when cable 33 is again stressed for normal towing. The increased tension on cable 33 at that time actually causes arm 18 to be rotated clockwise about its shaft 23, and the rotation thereof, along with the tip of pawl 77 reaching the forward end of cam surface 66, causes cam 62 to also rotate clockwise about its shaft 63 sufficiently to toggle notch 68 across the center line between the center of shaft 23 and the center of pin 71 and be held there by spring 69. Further rotation thereof is prevented, of course, because short-stop lip 81 abuts the top of frame 27 and cam surface 66 abuts the upper surface of arm of pawl 77. At such time, shift mechanism 17 has again assumed the position depicted in FIG. 2 and, hence, the towing toward the wide sweep path will continue until it is reached as a result of the increased angle of attack between wing 12 and the direction of travel being effected thereby. Once again, when equilibrium between all of the external forces applied to diverters 11 has been effected as a result of this greater angle of attack, the wide sweep path configuration will have been accomplished.

The amount of tension required in the tow cables to make shift mechanism 17 shift properly may be varied to optimize the sweep path width changing operations for any given relative tow vehicle -water speed. This is accomplished by properly adjusting screw 42 which, in turn, adjusts the compressive loading of spring 43. Of course, the greater the compression of spring 43, the less tow cable slacking required to shift mechanism 17.

From the foregoing, it may readily be seen that shift mechanism 17 itself constitutes an improved variable bridle like device which may be used to control or restrain any suitable utilization apparatus, so as to give it various and sundry desired attitudes; and, moreover, this is accomplished by shifting the direction and location of a motor force relative to a given reference plane or datum in response to a predetermined changes therein during the moving of said reference plane or datum within one or more ambient force fields or situations -such as, for example, within a fluid medium.

In addition, when shift mechanism 17 is combined with a suitable winglike member which is intended to be towed through water or some other fluid medium, it provides an improved method and means for changing the angle of attack thereof, and, hence, an improved diverter is effected.

Furthermore, when the aforesaid improved diverter is incorporated in cable positioning or minesweeping systems, they, too, are improved.

From the foregoing, it may be seen that the subject invention constitutes a vast improvement over the devices of the prior art and is, therefore, of considerable practical and patentable significance.

Obviously, other embodiments and modifications of the subject invention will readily come to the mind of one skilled in the art having the benefit of the teachings presented in the foregoing description and the drawings. It is, therefore, to be understood that this invention is not to be limited thereto and that said modifications and embodiments are intended to be included within the scope of the appended claims.

What is claimed is: l. A mechanism for reversibly shifting the direction an position of a motor force that is effectively applied to a predetermined reference plane in response to predetermined changes in said motor force while said plane is effectively being moved through a fluid medium by said motor force, comprising in combination:

frame means having a base with longitudinal and transverse axes disposed substantially parallel to the aforesaid plane;

lever means efiectively connected to said frame means for limited relative rotation therewith through and to first and second shift positions with respect thereto in response to predetermined changes in said motor force, as said motor force is being applied to a predetermined point thereon in such manner as to effect movement of said plane;

adjustable means connected between said frame means and said lever means for the urging of said lever means in a direction that is substantially opposite of a component of the motor force applied thereto, so as to effect rotation said lever means with respect to said frame means whenever said applied motor force is reduced a predetermined amount;

means operatively connected between said frame means and said rotatable lever means for latching thereof at the aforesaid first shift position relative thereto in response to a first successive reduction and increase of said motor force and for the latching thereof at the aforesaid second shift position relative thereto in response to a second successive reduction and increase of said motor force, thereby effectively shifting said rotatable lever means to first and second shift positions with respect to the aforesaid predetermined reference plane, respectively.

2. The device of claim 1 wherein said frame means having a base with longitudinal and transverse axes disposed substantially parallel to the aforesaid plane comprises:

a hollow, boxlike structure;

apertures disposed in the sides of said hollow, boxlike structure for effecting bearing surfaces in one end thereof that are configured for the supporting of a complementary journal therein.

3. The device of claim 1 wherein said lever means effectively connected to said frame means for limited rotation therewith through and to first and second shift positions with respect thereto in response to predetermined changes in said motor force, as said motor force is being applied to a predetermined point thereon in such manner as to effect movement of said plane comprises:

an arm having outer and inner links;

a hinge interposed between the outer and inner links of said arm in such manner that the outer link thereof is rotatable a predetermined amount about an axis that is substan tially normal to the longitudinal axis thereof;

a bearing located in the inner link of said arm having an axis of rotation that coincides with the axis of rotation of said lever means;

a shaft disposed for rotation in said inner link bearing; and

means releasably connected to said shaft for the attachment thereof to the aforesaid frame means.

4. The device of claim 1 wherein said adjustable means connected between said frame means and said lever means for the urging of said lever means in a direction that is substantially opposite of a component of the motor force applied thereto, so as to effect rotation thereof with respect to said frame whenever said applied motor force is reduced a predetermined amount comprises:

a spring, with one end thereof rotatably connected to said lever means;

a threaded nut efiectively connected to said frame means at a location thereon that is in alignment with the other end of said spring;

a screw threaded in said nut, with one end thereof effectively connected to the other end of said spring for the changing of the compression thereof in response to the adjustment of said screw.

5. The device of claim 1 wherein said means operatively connected between said frame means and said rotatable lever means for the latching thereof at the aforesaid first shift position relative thereto in response to a first successive reduction and increase of said motor force and for the latching thereof at the aforesaid second shift position relative thereto in response to a second successive reduction and increase of said motor force, thereby effectively shifting said rotatable lever means to first and second shift positions with respect to the aforesaid predetermined reference plane, respectively, comprises:

a rotatable pawl having an elongated section containing-a predetermined tip, a section containing a lip configured for stopping the counterclockwise rotation of said pawl upon contact with said frame means, and a heel substantially diametrically opposed from said lip;

means releasably secured to said frame means for rotatably mounting said pawl thereon;

a first spring connected to said frame means and in contact with the heel of said pawl for the urging thereof in a counterclockwise direction;

a substantially V-shaped, rotatable cam having a pair of legs, with an inside concave surface located on one thereof, with a first notch contiguously disposed with said inner cam surface at the tip thereof which is complementary configured for the timely insertion of the tip of the aforesaid pawl therein, and with a second notch disposed in the end of the other leg thereof;

means releasably secured to said rotatable lever means for rotatably mounting said V-shaped cam thereon;

a pin connected to said rotatable lever means;

a second spring connected between said pin and the second notch of said rotatable cam for the toggling thereof back and forth in response to predetermined clockwise and counterclockwise rotation of said lever means, respectively, as it rotates to acquire the aforesaid first and second shift positions; and

a stop surface located on said rotatable lever means for preventing the further counterclockwise rotation of said rotatable V-shaped cam relative thereto whenever said one leg comes in contact therewith and when the tip of the aforesaid pawl is inserted in the first notch thereof.

6. The invention of claim 1 further characterized by a lift means having a pair of substantially oppositely disposed lift surfaces, with one of the lift surfaces thereof connected to the base of said frame means.

7. The invention of claim 6 wherein said lift means has such lift characteristics as to urge the movement thereof in a direction opposite the direction of the lift surface thereof to which said base is connected whenever said predetermined reference plane is being moved through said fluid medium by said motor force.

8. The device of claim 6 wherein said lift means comprises a hydrodynamic wing having negative lift characteristics.

9. The invention of claim 6 further characterized by:

a stabilizing finlike empennage connected to said lift means;

and

an elevator connected to said finlike empennage.

10. The invention of claim 6 further characterized by a weight connected to said lift means in such manner and at such location thereon as to influence the balance thereof.

11. The invention of claim 6 further characterized by:

a tractor vehicle; and

a tow cable connected between said tractor vehicle and the aforesaid predetermined point on said lever means for supplying said motor force thereto.

12. The device of claim 11 further characterized by utilization apparatus effectively connected to said tow cable.

13. The device of claim 12 wherein said utilization apparatus comprises cable cutters.

14 The device of claim 12 wherein said utilization apparatus comprises mooring line cutters.

15. The device of claim 12 wherein said utilization apparatus comprises minesweeping apparatus.

16. The device of claim 12 wherein said utilization apparatus comprises oceanographic instrumentation. 

1. A mechanism for reversibly shifting the direction an position of a motor force that is effectively applied to a predetermined reference plane in response to predetermined changes in said motor force while said plane is effectively being moved through a fluid medium by said motor force, comprising in combination: frame means having a base with longitudinal and transverse axes disposed substantially parallel to the aforesaid plane; lever means effectively connected to said frame means for limited relative rotation therewith through and to first and second shift positions with respect thereto in response to predetermined changes in said motor force, as said motor force is being applied to a predetermined point thereon in such manner as to effect movement of said plane; adjustable means connected between said frame means and said lever means for the urging of said lever means in a direction that is substantially opposite of a component of the motor force applied thereto, so as to effect rotation said lever means with respect to said frame means whenever said applied motor force is reduced a predetermined amount; means operatively connected between said frame means and said rotatable lever means for latching thereof at the aforesaid first shift position relative thereto in response to a first successive reduction and increase of said motor force and for the latching thereof at the aforesaid second shift position relative thereto in response to a second successive reduction and increase of said motor force, thereby effectively shifting said rotatable lever means to first and second shift positions with respect to the aforesaid predetermined reference plane, respectively.
 2. The device of claim 1 wherein said frame means having a base with longitudinal and transverse axes disposed substantially parallel to the aforesaid plane comprises: a hollow, boxlike structure; apertures disposed in the sides of said hollow, boxlike structure for effecting bearing surfaces in one end thereof that are configured for the supporting of a complementary journal therein.
 3. The device of claim 1 wherein said lever means effectively connected to said frame means for limited rotation therewith through and to first and second shift positions with respect thereto in response to predetermined changes in said motor force, as said motor force is being applied to a predetermined point thereon in such manner as to effect movement of said plane comprises: an arm having outer and inner links; a hinge interposed between the outer and inner links of said arm in such manner that the outer link thereof is rotatable a predetermined amount about an axis that is substantially normal to the longitudinal axis thereof; a bearing located in the inner link of said arm having an axis of rotation that coincides with the axis of rotation of said lever means; a shaft disposed for rotation in said inner link bearing; and means releasably connected to said shaft for the attachment thereof to the aforesaid frame means.
 4. The device of claim 1 wherein said adjustable means connected between said frame means and said lever means for the urging of said lever means in a direction that is substantially opposite of a component of the motor force applied thereto, so as to effect rotation thereof with respect to said frame whenever said applied motor force is reduced a predetermined amount comprises: a spring, with one end thereof rotatably connected to said lever means; a threaded nut effectively connected to said frame means at a location thereon that is in alignment with the other end of said spring; a screw threaded in said nut, with one end thereof effectively connected to the other end of said spring for the changing of the compression thereof in response to the adjustment of said screw.
 5. The device of claim 1 wherein said means operatively connected between said frame means and said rotatable lever means for the latching thereof at the aforesaid first shift position relative thereto in response to a first successive reduction and increase of said motor force and for the latching thereof at the aforesaid second shift position relative thereto in response to a second successive reduction and increase of said motor force, thereby effectively shifting said rotatable lever means to first and second shift positions with respect to the aforesaid predetermined reference plane, respectively, comprises: a rotatable pawl having an elongated section containing a predetermined tip, a section containing a lip configured for stopping the counterclockwise rotation of said pawl upon contact with said frame means, and a heel substantially diametrically opposed from said lip; means releasably secured to said frame means for rotataBly mounting said pawl thereon; a first spring connected to said frame means and in contact with the heel of said pawl for the urging thereof in a counterclockwise direction; a substantially V-shaped, rotatable cam having a pair of legs, with an inside concave surface located on one thereof, with a first notch contiguously disposed with said inner cam surface at the tip thereof which is complementary configured for the timely insertion of the tip of the aforesaid pawl therein, and with a second notch disposed in the end of the other leg thereof; means releasably secured to said rotatable lever means for rotatably mounting said V-shaped cam thereon; a pin connected to said rotatable lever means; a second spring connected between said pin and the second notch of said rotatable cam for the toggling thereof back and forth in response to predetermined clockwise and counterclockwise rotation of said lever means, respectively, as it rotates to acquire the aforesaid first and second shift positions; and a stop surface located on said rotatable lever means for preventing the further counterclockwise rotation of said rotatable V-shaped cam relative thereto whenever said one leg comes in contact therewith and when the tip of the aforesaid pawl is inserted in the first notch thereof.
 6. The invention of claim 1 further characterized by a lift means having a pair of substantially oppositely disposed lift surfaces, with one of the lift surfaces thereof connected to the base of said frame means.
 7. The invention of claim 6 wherein said lift means has such lift characteristics as to urge the movement thereof in a direction opposite the direction of the lift surface thereof to which said base is connected whenever said predetermined reference plane is being moved through said fluid medium by said motor force.
 8. The device of claim 6 wherein said lift means comprises a hydrodynamic wing having negative lift characteristics.
 9. The invention of claim 6 further characterized by: a stabilizing finlike empennage connected to said lift means; and an elevator connected to said finlike empennage.
 10. The invention of claim 6 further characterized by a weight connected to said lift means in such manner and at such location thereon as to influence the balance thereof.
 11. The invention of claim 6 further characterized by: a tractor vehicle; and a tow cable connected between said tractor vehicle and the aforesaid predetermined point on said lever means for supplying said motor force thereto.
 12. The device of claim 11 further characterized by utilization apparatus effectively connected to said tow cable.
 13. The device of claim 12 wherein said utilization apparatus comprises cable cutters. 14 The device of claim 12 wherein said utilization apparatus comprises mooring line cutters.
 15. The device of claim 12 wherein said utilization apparatus comprises minesweeping apparatus.
 16. The device of claim 12 wherein said utilization apparatus comprises oceanographic instrumentation. 